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[DPRG] New research maybe has some ideas for us

Subject: [DPRG] New research maybe has some ideas for us
From: Rud Merriam k5rud at arrl.net
Date: Thu Apr 19 22:15:24 CDT 2012

How does LegoBot determine it is in a singularity trap?

- 73 -
*Rud Merriam K5RUD
* /Mystic Lake Software <http://mysticlakesoftware.com/>

On 4/19/2012 9:04 PM, David Anderson wrote:
> Howdy,
> I like the idea of penalizing longer connections, interesting that the
> brain does that already.  Something that Brad wrote got me thinking
> about some recent experiments we did at the DPRG:
> "Maybe the local one uses geometry only to determine current heading,
> but gets stuck in canyons  etc."
> When Ed Paradis was here over Christmas (we miss you Ed!) we built an
> impromptu "waypoint singularity trap"  i.e., canyon, to test out
> LegoBot's ability to handle such situations.   It does so by switching
> from navigation mode to perimeter following mode when it finds that the
> target waypoint it is seeking to acquire is directly behind the robot,
> and switching back to navigation mode when the target is directly in
> front of it.  This seems to work pretty well.  Here's the video we made:
> <http://geology.heroy.smu.edu/dpa-www/robo/lego/20111220_robo2.mpg>
> I did a longer version with a more verbose (too verbose?) explanation at
> home in my shop:
> <http://geology.heroy.smu.edu/dpa-www/robo/lego/20111220_robo.mpg>
> jBot has a similar behavior that is documented on it's web page, but
> it's not quite so obvious what's going on.   In particular, no new
> waypoints are added (or needed) for the robot to handle these
> situations.  I alluded to this in the DPRG talk I did a few months ago,
> but hopefully these videos make it more understandable.
> happy roboting,
> dpa
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